Autonomous travel method, autonomous travel system, and autonomous travel program

Abstract

An autonomous travel system causes a work vehicle to autonomously travel along an inter-field route preset for a road connecting a field and a field. A travel processor causes the work vehicle to be stopped at a route start position of the inter-field route and to resume autonomous travel when a user is within a predetermined distance from the work vehicle in the field corresponding to the stop position of the work vehicle. An announcement process unit causes the work vehicle to announce travel information about travel on the inter-field route in the field.

The invention claimed is: 
     
       1. An autonomous travel method for causing a work vehicle to autonomously travel along an inter-area route preset for a connecting road that connects multiple areas that are each adjacent the connecting road, the autonomous travel method comprising:
 causing the work vehicle to be stopped at an end point of the inter-area route, wherein the end point is within an area of the multiple areas. 
 
     
     
       2. The autonomous travel method according to  claim 1 , further comprising:
 announcing travel information associated with travel of the inter-area route in an area of the multiple areas. 
 
     
     
       3. The autonomous travel method according to  claim 2 , wherein the travel information is announced in the work vehicle and an operation terminal located in the area that can communicate with the work vehicle, after the work vehicle is caused to be stopped at a start point of the inter-area route. 
     
     
       4. The autonomous travel method according to  claim 3 , wherein:
 the travel information includes at least one of stop information indicating that the work vehicle is stopped or inquiry information inquiring about whether or not to resume traveling of the work vehicle, 
 the work vehicle is caused to audibly output the stop information, and 
 the operation terminal is caused to display the stop information and the inquiry information. 
 
     
     
       5. The autonomous travel method according to  claim 4 , wherein:
 the stop information is displayed on the operation terminal based on the work vehicle being stopped, and 
 the inquiry information is displayed on the operation terminal based on the operation terminal being within a predetermined distance from the work vehicle. 
 
     
     
       6. The autonomous travel method according to  claim 4 , further comprising:
 causing the work vehicle to initiate autonomous travel along the inter-area route based on a travel resumption command obtained from the operation terminal in response to the inquiry information. 
 
     
     
       7. The autonomous travel method according to  claim 6 , further comprising:
 causing a first operation terminal located in an area that is connected to the inter-area route to display the stop information and the inquiry information; and 
 causing a second operation terminal located in an area that is not connected to the inter-area route to display the stop information. 
 
     
     
       8. The autonomous travel method according to  claim 7 , further comprising:
 causing the second operation terminal to further display the inquiry information based on the travel resumption command not being obtained from the first operation terminal. 
 
     
     
       9. The autonomous travel method according to  claim 8 , wherein the second operation terminal determined based on a priority among a plurality of second operation terminals is caused to display the inquiry information. 
     
     
       10. The autonomous travel method according to  claim 9 , wherein the second operation terminal closest to the work vehicle among the plurality of second operation terminals is caused to display the inquiry information. 
     
     
       11. The autonomous travel method according to  claim 1 , further comprising:
 causing the work vehicle to resume autonomous travel based on a user being within a predetermined distance from the work vehicle in an area corresponding to a stop position of the work vehicle. 
 
     
     
       12. The autonomous travel method according to  claim 11 , further comprising:
 causing the work vehicle to initiate autonomous travel along the inter-area route based on detection that the user gets on the work vehicle. 
 
     
     
       13. The autonomous travel method according to  claim 11 , wherein the work vehicle is caused to resume autonomous travel based on detection of the user being within the predetermined distance from the work vehicle until a predetermined time elapses after the work vehicle is stopped. 
     
     
       14. The autonomous travel method according to  claim 13 , further comprising:
 causing a drive source of the work vehicle to be stopped after causing the work vehicle to move from the stop position to a predetermined position in the area based on the user not being within the predetermined distance from the work vehicle until the predetermined time elapses after the work vehicle is stopped. 
 
     
     
       15. The autonomous travel method according to  claim 14 , wherein the predetermined position is a flat place near an entrance/exit of the area. 
     
     
       16. The autonomous travel method according to  claim 11 , further comprising:
 causing a drive source of the work vehicle to be stopped based on the user not being within the predetermined distance from the work vehicle until a predetermined time elapses after the work vehicle is stopped. 
 
     
     
       17. The autonomous travel method according to  claim 16 , further comprising:
 causing the drive source to be continuously driven while the work vehicle is stopped based on a work machine being in the work vehicle is such a work machine that needs to be continuous operated by the drive source. 
 
     
     
       18. The autonomous travel method according to  claim 16 , further comprising:
 causing the drive source to resume operation based on manipulation to resume operation of the drive source being accepted from an operation terminal that can communicate with the work vehicle, after the drive source of the work vehicle is stopped. 
 
     
     
       19. An autonomous travel system for causing a work vehicle to autonomously travel along an inter-area route preset for a connecting road that connects multiple areas that are each adjacent the connecting road, the autonomous travel system comprising:
 a travel processor configured to cause the work vehicle to be stopped at an end point of the inter-area route, wherein the end point is within an area of the multiple areas. 
 
     
     
       20. A non-transitory, computer-readable storage medium having stored thereon an autonomous travel program that, when executed by one or more processors, causes the one or more processors to perform operations comprising:
 causing a work vehicle to autonomously travel along an inter-area route preset for a connecting road that connects multiple areas that are each adjacent the connecting road; 
 causing the work vehicle to be stopped at an end point of the inter-area route, wherein the end point is within an area of the multiple areas.